EP1279326B2 - Verfahren zum automatisch Melken eines Milchtieres - Google Patents

Verfahren zum automatisch Melken eines Milchtieres Download PDF

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Publication number
EP1279326B2
EP1279326B2 EP02077614.2A EP02077614A EP1279326B2 EP 1279326 B2 EP1279326 B2 EP 1279326B2 EP 02077614 A EP02077614 A EP 02077614A EP 1279326 B2 EP1279326 B2 EP 1279326B2
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Prior art keywords
value
milking
milking parameter
average
milk
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EP02077614.2A
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English (en)
French (fr)
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EP1279326A1 (de
EP1279326B1 (de
Inventor
Karel Van Den Berg
Helena Geralda Maria Vijverberg
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Lely Enterprises AG
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Lely Enterprises AG
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Application filed by Lely Enterprises AG filed Critical Lely Enterprises AG
Priority to DK05077378.7T priority Critical patent/DK1621073T4/en
Priority to DE60209632.4T priority patent/DE60209632T3/de
Priority to EP05077378.7A priority patent/EP1621073B2/de
Publication of EP1279326A1 publication Critical patent/EP1279326A1/de
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/007—Monitoring milking processes; Control or regulation of milking machines

Definitions

  • the invention relates to a method of automatically milking a dairy animal, in particular a cow.
  • a method of the above-described type comprises the measures of claim 1. Due to the fact that the deactivation threshold is determined with the aid of the value of the milking parameter, the deactivation threshold can be adapted to the present momentary situation and the values of the milking parameter measured at that moment can be taken into account. This provides a considerable improvement relative to the existing pre-set deactivation thresholds.
  • the method comprises the step of recording in step a) a starting time from which the average value of the milking parameter is determined.
  • the selected milking parameter shows strongly fluctuating values at the beginning of the start of the milk flow, so that it is according to the invention to determine, as a starting time from which the average value of the milking parameter is determined, a point of time after the starting time when the milk flow in step a) starts.
  • Such a period of time may vary, in dependence of the milking parameter, between some seconds and some tens of seconds.
  • the average value of the milking parameter is preferably recorded continuously from the starting time. Although continuously recording the average value requires considerable calculation capacity, this results in extremely accurate values.
  • the method comprises the step of determining and storing the momentary value of the milking parameter.
  • storing is meant keeping the value of the milking parameter at least as long as is necessary for processing the value.
  • a mathematical function is applied to the value of the milking parameter for obtaining a threshold milking parameter value.
  • the method comprises the step of comparing the momentary value of the milking parameter with the threshold milking parameter value, the step of deactivating the teat cup being carried out when the momentary value of the milking parameter equals or is lower than the threshold milking parameter value.
  • the step of deactivating the teat cup is carried out when the momentary value of the milking parameter equals or is lower than the threshold milking parameter value during a period of time.
  • the period of time is preferably adjustable, in particular between approximately 2 seconds and approximately 9 seconds.
  • the method comprises the step of storing in a memory of a computer a number of ranges of average milking parameter values, and of storing in a memory of the computer a respective threshold milking parameter value corresponding with a certain range. For example, with cows, at the following average milk flows, i.e.
  • the following threshold milk flows respectively appear to give good results: 400 ml/min.; 120 ml/min.; 50 ml/min.; 30 ml/min., and 20 ml/min.
  • the method comprises the step that, when the average of the threshold milking parameter value equals or is lower than the threshold milking parameter value, deactivation of the teat cup takes place when the momentary value of the milking parameter equals or is lower than the threshold milking parameter, a deactivation of the teat cup takes place each time when the threshold milking parameter has been reached. This prevents the teat from being milked too long.
  • the method preferably comprises the step of determining, during obtaining a milk flow, the values of several milking parameters, the deactivation threshold being determined at least partially with the aid of the values of at least two measured milking parameters.
  • the method comprises the step of determining, during obtaining a milk flow, the value of at least one milking parameter, and that the deactivation threshold is determined at least partially with the aid of the value of the at least one measured milking parameter and a predetermined milking parameter value which is in particular based on historical data. Accordingly, there is already a deactivation threshold from the beginning of the milking, said deactivation threshold being adapted during milking, according to the invention, with the aid of values of the milking parameters. It is noticed that the deactivation threshold obtained after the milking has ended may be used as a predetermined threshold for the next milking run.
  • the method comprises the step of determining the difference between the momentary value of the milking parameter and the predetermined milking parameter value which is in particular based on historical data. Such a deviation may also be used for determining the deactivation threshold.
  • step a) the value of the momentary milk flow, the value of the average of the milk flow and the value of the momentary electric conductivity of the milk obtained are determined.
  • the method additionally comprises the step of storing the average, historical electric conductivity of the milk produced by the teat based on historical data, by determining the difference between the momentary electric conductivity and the average, historical electric conductivity, there may be obtained a deactivation threshold which is advantageous with respect to udder health.
  • an advantageous method according to the invention comprises the step of connecting at least one further teat cup to a further teat of the dairy animal, and the step of determining the electric conductivity of the milk obtained from said further teat.
  • the step of deactivating the teat cup may be carried out at a point of time depending on the average milk flow and the difference in electric conductivity.
  • the electric conductivity may be used as an indication of possible mastitis, and the ending of the milking may be adapted thereto in this case by taking this electric conductivity into account.
  • the point of time when the teat cup is deactivated is preferably postponed.
  • the measured deviation is greater than a predetermined value, it is preferred when not the exact average milk flow, but a compensated average milk flow is taken as a starting time for deactivating the teat cup.
  • This compensated average milk flow is in particular obtained in an advantageous manner when the method comprises the step of applying a mathematical function to the value of the average milk flow and the difference in electric conductivity for obtaining a compensated threshold milk flow average.
  • a function consisting in multiplying the average milk flow by 10 and in dividing it by the difference in electric conductivity ensures that deactivation of the teat cup takes place at a point of time which is appropriate with respect to udder health.
  • disconnection of the teat cup may take place simultaneously with deactivation of the teat cup, it is preferred when the step of disconnecting the teat cup is carried out after a predetermined period of time has elapsed after deactivation of the teat cup.
  • Said period of time is in particular adjustable.
  • the period of time is preferably adjustable between approximately 2 seconds and approximately 15 seconds.
  • the inventive method is applicable in a conventional, automatic method of milking, the method is in particular advantageous when the automatic milking is carried out by a milking robot.
  • the admission criterion for the milking robot is at least partially adapted with the aid of the value of the milking parameter measured during step a), and/or the measured deviation.
  • the measured value indicates the momentary situation, it may be used for adapting the admission criterion.
  • the admission criterion may be altered in such a manner that the sick animal is not admitted.
  • the measured value may indicate that the dairy animal develops or changes, so that an adaptation of the admission criterion is desired.
  • Such an adaptation of the criterion on the basis of the measured value may be carried out by a person skilled in the art without further data being required.
  • the invention will be described with reference to a device 1 for automatically milking a dairy animal, such as a cow, provided with one teat cup 2, shown in Figure 1 .
  • the measures of the inventive method will be set out clearly in the description with respect to the device.
  • the variation of the milking parameter can be measured during milking. Said deviation may then be used, possibly processed by a mathematical formula, for determining at least partially the deactivation threshold.
  • the teat cup 2 shown in Figure 1 may be automatically connected and disconnected to respectively from a teat of a cow by means of a milking robot which is not shown in the figures.
  • the milk yielded per udder quarter by means of the teat cup 2 may be supplied via separate milk lines 4 to a milk quantity meter or milk glass 3.
  • the discharge line 5 of the milk glass 3 is coupled to a line 7 extending towards the milk tank 6.
  • the device 1 further comprises a pulsator system 8 for the teat cup 2.
  • the vacuum line 9 for the pulsator system 8 is connected in a usual manner to a vacuum pump with balance tank.
  • a milk flow meter 10 for establishing the start of the milk flow and for determining the value of the milk flow during milking, in other words during the time when the teat cup is active.
  • Said milk flow meter 10 operates in this example on the basis of the creation by a milk flow of an electric connection between two electrodes.
  • the tilted position of the milk flow meter 10 prevents milk from remaining between the electrodes, in other words prevents a small quantity of milk from being present between the electrodes; this would of course result in a milk flow being permanently observed.
  • the milk line 4 has preferably such a diameter that irrespective of the milk flow present therein, the milk line is always completely filled.
  • a temperature meter 11 for establishing the milk temperature.
  • the milk temperature is a good measure for the body temperature; with sick cows, such as cows affected by mastitis, the body temperature is higher than normally.
  • a conductivity meter 12 for determining the electric conductivity, e.g. for establishing mastitis or another infectious illness.
  • Said conductivity meter 12 comprises a reservoir with electrodes for measuring the electric conductivity of the milk present in the reservoir. At each new milk flow the milk present in the reservoir is replaced. When the milk is affected, then an increased electric conductivity is established. Since for each new milk flow there is observed in the beginning a small increase of the electric conductivity, it is also possible to establish the start of a milk flow by using this mastitis sensor instead of the milk flow meter 10 or in addition thereto.
  • the outgoing signals S1, S2 and S3 of the respective meters 10, 11 and 12 are supplied to a computer 13 in which the information from these meters will be further processed, as will be elucidated hereinafter, and possibly be made visible on a display screen 14.
  • a three-way valve 15 for discharging the milk flow from a quarter affected by mastitis of the udder of the cow to a waste tank 16.
  • the three-way valve 15 is switched over by means of a signal S4 supplied by the computer 13.
  • the computer 13 may possibly transmit this signal S4 automatically to the three-way valve 15.
  • the computer 13 may determine on the basis of the data from the milk flow meter 10 the starting time when the milk flow begins and preferably store said starting time (temporarily or permanently). Also the momentary milk flow as measured by the milk flow meter 10 may be stored by the computer 13. From these data the computer 13 continuously determines the average milk flow. Determination of the average milk flow may begin for not taking into account the first measurements which may usually contain noise or deviating values, when a predetermined period of time after the start of the milk flow, e.g. a period of time from 10 to 50 seconds, has elapsed. It is noticed that by storage is meant that the computer keeps the data, at least as long as necessary for processing them. For storing the data the computer 13 comprises one or more memories 17 (in the embodiment shown only one memory is depicted for the sake of simplicity).
  • the computer 13 comprises a processing member 18 suitable for applying a mathematical function to the value of the average milk flow.
  • a threshold milk flow average is obtained.
  • a suitable function may be chosen. However, from long research it has been found that for a quick deactivation of the teat cup the function of dividing by 3 is highly appropriate irrespective of the individual cow. It further appears that for a non-quick deactivation the function of dividing by 5 is highly appropriate irrespective of the individual cow.
  • the computer 13 further comprises a comparator 19 for comparing the momentary milk flow with the calculated threshold milk flow average.
  • the computer 13 supplies a signal S5 controlling the deactivation of the teat cup 2. For example due to the fact that the signal S5 controls the pulsation system 8 in such a manner that the vacuum is removed from the teat cup 2.
  • the comparator 19 of the computer 13 compares the measured average milk flow with the ranges stored in the memory, and the computer 13 determines the corresponding threshold milk flow. When the momentary milk flow equals or is lower than the threshold milk flow, the computer supplies the signal S5 for deactivation of the teat cup 2.
  • threshold milk flow also other predetermined threshold values may be taken, e.g. those based on historical data.
  • the signals issued by the meters 11, 12 during milking may be averaged over a certain period of time, e.g. over 24 hours, and/or over a number of milking runs. As the cow will be milked several times per day, this average value may each time be calculated as a progressive average.
  • the conductivity meter 12 thus determines the momentary electric conductivity of the milk obtained and the computer 13 ensures the storage of the average, historical electric conductivity of the teat based on historical data.
  • the relevant teat When the difference exceeds a certain, to be pre-set value, the relevant teat may be infected, and the computer 13 may issue relevant signals for taking the necessary measures.
  • the means, in the present case the pulsation system 8, for deactivating the teat cup 2 is put into operation by the computer 13 at a point of time depending on the measured average milk flow and the difference in electric conductivity.
  • the computer 13 applies a mathematical function both to the value of the average milk flow and to the difference in electric conductivity for obtaining a so-called compensated threshold milk flow average. It is then preferred that the function is such that at a raised conductivity the deactivation takes place at an other point of time than usually, in other words at an increased conductivity the teat will be milked longer.
  • a function consisting in multiplying the average milk flow by 10 and in dividing it by the difference in electric conductivity ensures that the deactivation of the teat cup takes place at a point of time which is appropriate with respect to udder health.
  • the average milk flow may also be used in combination with other milking parameters for putting the means for deactivating the teat cup into operation.
  • the temperature meter 11 issues a value which clearly deviates from the relevant average value, i.e. is outside a certain tolerance range around the average value, this may be an indication of illness of the cow.
  • the computer 13 may then be programmed such that in this case it is immediately decided to deactivate the teat cup 2 and to disconnect it from the teat. Moreover, the computer 13 may give a warning signal to the farmer.
  • the device 1 comprises four teat cups 2. Each of the teat cups 2 can be connected to a teat of a cow. Of the milk produced by each of the teat cups 2 the milk flow is determined by the milk flow meter 11, the temperature by the temperature meter 11, and the electric conductivity by the conductivity meter 12.
  • the computer 13 determines the teat (teat cup 2) from which at one point of time the milk has the lowest electric conductivity. For every other teat (teat cup 2) the computer 13 determines the deviation from the electric conductivity of the milk produced by that other teat relative to the lowest conductivity of the milk obtained from the teat producing the milk with the lowest conductivity.
  • the difference in the conductivity of the milk between the teats (teat cups 2) may be an indication of an infection in at least one of the teats.
  • the means for deactivating the teat cup are put into operation by the computer at a point of time depending on the average milk flow and the difference in electric conductivity. It has appeared that as a function, the same function, i.e. multiplying the average milk flow by 10 and dividing it by the difference in electric conductivity, can be used advantageously.
  • the device 1 may comprise a (non-shown) milking robot known per se, said milking robot comprising means for automatically connecting respectively disconnecting the teat cup(s).
  • these means may be identical to or integrated into the means for deactivating the teat cups.
  • the computer is preferably suitable for determining a period of time from deactivation of the teat cup and for putting the means for disconnecting the teat cup(s) into operation when the period of time has reached a certain time threshold value.
  • the time threshold value is preferably adjustable, a range between approximately 2 seconds and approximately 15 seconds having appeared to be advantageous.
  • average values may be determined from further signals which may be deduced from combinations of signals issued by several sensors.
  • signals may be deduced being a measure for the milk velocity and/or the milk yield.
  • the value of these signals may be averaged.
  • the mentioned averaging processes are carried out in the computer 13 and will all relate to a particular animal or a particular group of animals and/or a particular period of time.
  • the signals issued by one or more sensors during milking of separate animals and having a value deviating from this average value may always be an indication that something is wrong with the health of the relevant teats.
  • Such an indication may be given by the computer 13 on an attention list, i.e. both be made visible on the display screen 14 of the computer 13 and be printed.
  • an alarm e.g. in the form of control lights to be disposed on the equipment or via the mobile telephone of the farmer.

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Claims (27)

  1. Verfahren zum automatischen Melken eines milchgebenden Tieres, insbesondere einer Kuh, wobei das Verfahren umfasst:
    a) den Verfahrensschritt des Aktivierens des Zitzenbechers zum Melken einer Zitze des milchgebenden Tieres,
    b) den Verfahrensschritt des Messens eines Melkparameters während des Melkens der Zitze während des Verfahrensschrittes a) zur Ermittlung eines Wertes des Melkparameters, wobei der Melkparameter der Milchfluss ist, und
    c) den Verfahrensschritt des Deaktivierens des Zitzenbechers bei Erreichen eines Deaktivierungsgrenzwertes, wobei der Deaktivierungsgrenzwert mit Hilfe des Wertes des Melkparameters ermittelt wird, wobei
    eine mathematische Funktion auf den Wert des Melkparameters angewendet wird, um einen Melkparameter-Grenzwert zu ermitteln und das Verfahren ferner die Verfahrensschritte des Vergleichens des momentanen Wertes des Melkparameters mit dem Melkparameter-Grenzwert und den Verfahrensschritt des Deaktivierens des Zitzenbechers umfasst, wenn der momentane Wert des Melkparameters während eines Zeitraumes gleich dem Melkparameter-Grenzwert oder niedriger als dieser ist, wobei der Wert des Melkparameters ein Durchschnittswert ist und das Verfahren den Verfahrensschritt des Aufzeichnens in Verfahrensschritt a) eines Startzeitpunkts umfasst, von dem an der Durchschnittswert des Melkparameters ermittelt wird und als Startzeitpunkt, von dem an der Durchschnittswert des Melkparameters ermittelt wird, ein Zeitpunkt nach dem Zeitpunkt gewählt wird, zu dem der Milchfluss in Verfahrensschritt a) einsetzt.
  2. Verfahren nach Anspruch 1,
    dadurch gekennzeichnet, dass der Zeitraum einstellbar ist.
  3. Verfahren nach Anspruch 2,
    dadurch gekennzeichnet, dass der Zeitraum zwischen ungefähr 2 Sekunden und ungefähr 9 Sekunden einstellbar ist.
  4. Verfahren nach Anspruch 1,
    dadurch gekennzeichnet, dass von dem Startzeitpunkt an der Durchschnittswert des Melkparameters kontinuierlich aufgezeichnet wird.
  5. Verfahren nach einem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass das Verfahren den Verfahrensschritt des Ermittelns und Speicherns des momentanen Wertes des Melkparameters umfasst.
  6. Verfahren nach einem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass das Verfahren den Verfahrensschritt des Speicherns einer Anzahl von Bereichen von durchschnittlichen Melkparameterwerten in einem Speicher eines Computers und des Speicherns eines jeweiligen Melkparameter-Grenzwertes, der einem bestimmten Bereich entspricht, in einem Speicher des Computers umfasst.
  7. Verfahren nach Anspruch 6,
    dadurch gekennzeichnet, dass das Verfahren den Verfahrensschritt des Vergleichens des momentanen und/oder durchschnittlichen Melkparameterwertes mit den in dem Speicher gespeicherten Bereichen umfasst.
  8. Verfahren nach Anspruch 6 oder 7,
    dadurch gekennzeichnet, dass das Verfahren den Verfahrensschritt des Deaktivierens des Zitzenbechers umfasst, wenn der momentane Wert des Melkparameterwertes gleich dem Melkparameter-Grenzwert, der dem durchschnittlichen Melkparameterwert entspricht, oder niedriger als dieser ist.
  9. Verfahren nach Anspruch 8,
    dadurch gekennzeichnet, dass, wenn der Durchschnitt des Melkparameter-Grenzwertes gleich dem Melkparameter-Grenzwert oder niedriger als dieser ist, die Deaktivierung des Zitzenbechers erfolgt, wenn der momentane Wert des Melkparameters gleich dem Milchfluss-Grenzwert oder niedriger als dieser ist.
  10. Verfahren nach einem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass als Melkparameter der Milchfluss gewählt wird und die mathematische Funktion darin besteht, den Milchflusswert durch 3 zu teilen.
  11. Verfahren nach Anspruch 4,
    dadurch gekennzeichnet, dass als Melkparameter der Milchfluss gewählt wird und die mathematische Funktion darin besteht, den Milchflusswert durch 5 zu teilen.
  12. Verfahren nach einem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass das Verfahren den Verfahrensschritt des Ermittelns während eines Milchflusses der Werte von mehreren Melkparametern umfasst, und dass der Deaktivierungsgrenzwert mit Hilfe der Werte von mindestens zwei gemessenen Melkparametern ermittelt wird.
  13. Verfahren nach einem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass das Verfahren den Verfahrensschritt des Ermittelns während eines Milchflusses des Wertes von mindestens einem Melkparameter umfasst, und dass der Deaktivierungsgrenzwert mit Hilfe des Wertes des mindestens einen gemessenen Melkparameters und eines vorgegebenen Melkparameterwertes ermittelt wird, der insbesondere auf historischen Daten basiert.
  14. Verfahren nach Anspruch 13,
    dadurch gekennzeichnet, dass das Verfahren den Verfahrensschritt des Ermittelns der Differenz zwischen dem momentanen Wert des Melkparameters und dem vorgegebenen Melkparameterwert umfasst, der insbesondere auf historischen Daten basiert.
  15. Verfahren nach Anspruch 12,
    dadurch gekennzeichnet, dass während des Verfahrensschrittes a) der Wert des momentanen Milchflusses, der Wert des Durchschnittes des Milchflusses und der Wert der momentanen elektrischen Leitfähigkeit der gewonnenen Milch ermittelt werden.
  16. Verfahren nach Anspruch 13 und 14,
    dadurch gekennzeichnet, dass das Verfahren den Verfahrensschritt des Speicherns der durchschnittlichen historischen elektrischen Leitfähigkeit der von der Zitze gelieferten Milch auf der Basis historischer Daten umfasst.
  17. Verfahren nach Anspruch 16,
    dadurch gekennzeichnet, dass das Verfahren den Verfahrensschritt des Ermittelns der Differenz zwischen der momentanen elektrischen Leitfähigkeit und der durchschnittlichen historischen elektrischen Leitfähigkeit umfasst.
  18. Verfahren nach Anspruch 15, 16 oder 17,
    dadurch gekennzeichnet, dass das Verfahren den Verfahrensschritt des Anschließens von mindestens einem weiteren Zitzenbecher an eine weitere Zitze des milchgebenden Tieres und den Verfahrensschritt des Ermittelns der elektrischen Leitfähigkeit der von der weiteren Zitze gewonnenen Milch umfasst.
  19. Verfahren nach Anspruch 18,
    dadurch gekennzeichnet, dass das Verfahren den Verfahrensschritt des Ermittelns derjenigen Zitze umfasst, die im Vergleich zu den anderen Zitzen zu einem Zeitpunkt Milch mit der niedrigsten elektrischen Leitfähigkeit liefert, und dass für jede andere Zitze die Abweichung der Leitfähigkeit der von dieser anderen Zitze gelieferten Milch von der niedrigsten Leitfähigkeit der Milch ermittelt wird, die von der Zitze gewonnen wird, die Milch mit der niedrigsten Leitfähigkeit liefert.
  20. Verfahren nach Anspruch 17 oder 19,
    dadurch gekennzeichnet, dass der Verfahrensschritt des Deaktivierens des Zitzenbechers zu einem Zeitpunkt durchgeführt wird, der von dem durchschnittlichen Milchfluss und dem Unterschied in der elektrischen Leitfähigkeit abhängt.
  21. Verfahren nach Anspruch 20,
    dadurch gekennzeichnet, dass das Verfahren den Verfahrensschritt des Anwendens einer mathematischen Funktion auf den Wert des durchschnittlichen Milchflusses und die Differenz in der elektrischen Leitfähigkeit umfasst, um einen kompensierten durchschnittlichen Milchfluss-Grenzwert zu ermitteln.
  22. Verfahren nach Anspruch 21,
    dadurch gekennzeichnet, dass die Funktion darin besteht, den durchschnittlichen Milchfluss mit 10 zu multiplizieren und ihn durch die Differenz in der elektrischen Leitfähigkeit zu teilen.
  23. Verfahren nach einem der vorhergehenden Ansprüche,
    wobei das Verfahren den Verfahrensschritt des Abnehmens des Zitzenbechers umfasst,
    dadurch gekennzeichnet, dass der Verfahrensschritt des Abnehmens des Zitzenbechers durchgeführt wird, nachdem ein bestimmter Zeitraum nach der Deaktivierung des Zitzenbechers verstrichen ist.
  24. Verfahren nach Anspruch 23,
    dadurch gekennzeichnet, dass der Zeitraum einstellbar ist.
  25. Verfahren nach Anspruch 24,
    dadurch gekennzeichnet, dass der Zeitraum zwischen ungefähr 2 Sekunden und ungefähr 15 Sekunden einstellbar ist.
  26. Verfahren nach einem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass das automatische Melken von einem Melkroboter durchgeführt wird.
  27. Verfahren nach Anspruch 26,
    dadurch gekennzeichnet, dass das Zulassungskriterium für den Melkroboter zumindest mit Hilfe des Wertes des Melkparameters während des Verfahrensschrittes a) angepasst wird.
EP02077614.2A 2001-07-25 2002-07-01 Verfahren zum automatisch Melken eines Milchtieres Expired - Lifetime EP1279326B2 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DK05077378.7T DK1621073T4 (en) 2001-07-25 2002-07-01 A method and device for automatically milking a dairy animal
DE60209632.4T DE60209632T3 (de) 2001-07-25 2002-07-01 Verfahren zum automatisch Melken eines Milchtieres
EP05077378.7A EP1621073B2 (de) 2001-07-25 2002-07-01 Verfahren und Vorrichtung zum automatischen Melken eines Milchtieres

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL1018633A NL1018633C2 (nl) 2001-07-25 2001-07-25 Werkwijze en inrichting voor het automatisch melken van een melkdier.
NL1018633 2001-07-25

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EP05077378.7A Division-Into EP1621073B2 (de) 2001-07-25 2002-07-01 Verfahren und Vorrichtung zum automatischen Melken eines Milchtieres
EP05077378.7A Division EP1621073B2 (de) 2001-07-25 2002-07-01 Verfahren und Vorrichtung zum automatischen Melken eines Milchtieres

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EP1279326A1 EP1279326A1 (de) 2003-01-29
EP1279326B1 EP1279326B1 (de) 2006-03-08
EP1279326B2 true EP1279326B2 (de) 2014-06-11

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EP02077614.2A Expired - Lifetime EP1279326B2 (de) 2001-07-25 2002-07-01 Verfahren zum automatisch Melken eines Milchtieres
EP05077378.7A Expired - Lifetime EP1621073B2 (de) 2001-07-25 2002-07-01 Verfahren und Vorrichtung zum automatischen Melken eines Milchtieres

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JP (1) JP2003052260A (de)
CA (1) CA2394907C (de)
DE (2) DE60209632T3 (de)
DK (2) DK1621073T4 (de)
IL (1) IL150521A0 (de)
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DE60231567D1 (de) 2009-04-23
DK1279326T3 (da) 2006-07-10
EP1621073A2 (de) 2006-02-01
EP1279326A1 (de) 2003-01-29
CA2394907A1 (en) 2003-01-25
DK1621073T3 (da) 2009-05-25
JP2003052260A (ja) 2003-02-25
EP1621073A3 (de) 2006-02-08
EP1621073B1 (de) 2009-03-11
IL150521A0 (en) 2003-02-12
EP1621073B2 (de) 2016-03-30
US6823817B2 (en) 2004-11-30
NL1018633C2 (nl) 2003-01-28
DK1621073T4 (en) 2016-07-04
DE60209632D1 (de) 2006-05-04
EP1279326B1 (de) 2006-03-08
DE60209632T3 (de) 2014-10-16
US20030019431A1 (en) 2003-01-30
CA2394907C (en) 2009-11-17
DK1279326T4 (da) 2014-09-08
DE60209632T2 (de) 2006-09-21

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